JP6551384B2 - 車両用注意喚起装置 - Google Patents

車両用注意喚起装置 Download PDF

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Publication number
JP6551384B2
JP6551384B2 JP2016250554A JP2016250554A JP6551384B2 JP 6551384 B2 JP6551384 B2 JP 6551384B2 JP 2016250554 A JP2016250554 A JP 2016250554A JP 2016250554 A JP2016250554 A JP 2016250554A JP 6551384 B2 JP6551384 B2 JP 6551384B2
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Japan
Prior art keywords
obstacle
vehicle
target
host vehicle
predicted travel
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JP2016250554A
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English (en)
Japanese (ja)
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JP2018103704A (ja
Inventor
哲平 太田
哲平 太田
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Toyota Motor Corp
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Toyota Motor Corp
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Publication date
Application filed by Toyota Motor Corp filed Critical Toyota Motor Corp
Priority to JP2016250554A priority Critical patent/JP6551384B2/ja
Priority to DE102017131125.4A priority patent/DE102017131125B4/de
Priority to US15/852,630 priority patent/US10486593B2/en
Priority to CN201711404007.XA priority patent/CN108238056B/zh
Publication of JP2018103704A publication Critical patent/JP2018103704A/ja
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Publication of JP6551384B2 publication Critical patent/JP6551384B2/ja
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
    • B60Q9/008—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling for anti-collision purposes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
    • B62D15/025—Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/06—Systems determining position data of a target
    • G01S13/08—Systems for measuring distance only
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
    • G01S13/867—Combination of radar systems with cameras
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/87—Combinations of radar systems, e.g. primary radar and secondary radar
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/50—Depth or shape recovery
    • G06T7/55—Depth or shape recovery from multiple images
    • G06T7/593—Depth or shape recovery from multiple images from stereo images
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/70—Determining position or orientation of objects or cameras
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
    • G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • B60W2050/146—Display means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2554/00—Input parameters relating to objects
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
    • B62D15/021—Determination of steering angle
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/66—Radar-tracking systems; Analogous systems
    • G01S13/72—Radar-tracking systems; Analogous systems for two-dimensional tracking, e.g. combination of angle and range tracking, track-while-scan radar
    • G01S13/723—Radar-tracking systems; Analogous systems for two-dimensional tracking, e.g. combination of angle and range tracking, track-while-scan radar by using numerical data
    • G01S13/726—Multiple target tracking
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9327—Sensor installation details
    • G01S2013/93271—Sensor installation details in the front of the vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9327—Sensor installation details
    • G01S2013/93275—Sensor installation details in the bumper area
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10004—Still image; Photographic image
    • G06T2207/10012—Stereo images
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30248—Vehicle exterior or interior
    • G06T2207/30252—Vehicle exterior; Vicinity of vehicle
    • G06T2207/30261—Obstacle

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Theoretical Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Human Computer Interaction (AREA)
  • Electromagnetism (AREA)
  • Transportation (AREA)
  • Multimedia (AREA)
  • Automation & Control Theory (AREA)
  • Combustion & Propulsion (AREA)
  • Chemical & Material Sciences (AREA)
  • Traffic Control Systems (AREA)
JP2016250554A 2016-12-26 2016-12-26 車両用注意喚起装置 Active JP6551384B2 (ja)

Priority Applications (4)

Application Number Priority Date Filing Date Title
JP2016250554A JP6551384B2 (ja) 2016-12-26 2016-12-26 車両用注意喚起装置
DE102017131125.4A DE102017131125B4 (de) 2016-12-26 2017-12-22 Fahrzeuginterne Alarmvorrichtung
US15/852,630 US10486593B2 (en) 2016-12-26 2017-12-22 In-vehicle alert apparatus
CN201711404007.XA CN108238056B (zh) 2016-12-26 2017-12-22 车载警告设备

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP2016250554A JP6551384B2 (ja) 2016-12-26 2016-12-26 車両用注意喚起装置

Publications (2)

Publication Number Publication Date
JP2018103704A JP2018103704A (ja) 2018-07-05
JP6551384B2 true JP6551384B2 (ja) 2019-07-31

Family

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JP2016250554A Active JP6551384B2 (ja) 2016-12-26 2016-12-26 車両用注意喚起装置

Country Status (4)

Country Link
US (1) US10486593B2 (zh)
JP (1) JP6551384B2 (zh)
CN (1) CN108238056B (zh)
DE (1) DE102017131125B4 (zh)

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US20210295384A1 (en) 2016-06-23 2021-09-23 State Farm Mutual Automobile Insurance Company Systems and methods for environmental analysis based upon vehicle sensor data
JP6565893B2 (ja) 2016-12-26 2019-08-28 トヨタ自動車株式会社 運転支援装置
JP6859720B2 (ja) * 2017-01-24 2021-04-14 いすゞ自動車株式会社 車両制御装置及び管理システム
DE102018210692B4 (de) * 2018-06-29 2020-07-02 Bayerische Motoren Werke Aktiengesellschaft Verfahren zum Bestimmen von Stützpunkten zum Schätzen eines Verlaufs einer Randbebauung einer Fahrbahn, computerlesbares Medium, System, und Fahrzeug
GB2576308B (en) * 2018-08-10 2020-12-30 Jaguar Land Rover Ltd An apparatus and method for providing driver assistance of a vehicle
CN110843910A (zh) * 2018-08-21 2020-02-28 上海博泰悦臻网络技术服务有限公司 车辆拐弯控制装置及方法
CN109064746A (zh) * 2018-08-31 2018-12-21 努比亚技术有限公司 一种信息处理方法、终端和计算机可读存储介质
KR102592825B1 (ko) * 2018-08-31 2023-10-23 현대자동차주식회사 충돌 회피 제어 장치 및 그 방법
WO2020066305A1 (ja) * 2018-09-25 2020-04-02 日立オートモティブシステムズ株式会社 電子制御装置
US11495028B2 (en) * 2018-09-28 2022-11-08 Intel Corporation Obstacle analyzer, vehicle control system, and methods thereof
CN109624851B (zh) * 2018-11-23 2022-04-19 深圳市航盛电子股份有限公司 基于增强现实的辅助驾驶方法、系统及可读存储介质
RU2742323C2 (ru) * 2018-12-29 2021-02-04 Общество с ограниченной ответственностью "Яндекс Беспилотные Технологии" Способ и компьютерное устройство для определения углового смещения радиолокационной системы
JP7172626B2 (ja) * 2019-01-16 2022-11-16 トヨタ自動車株式会社 運転支援装置
JP7272228B2 (ja) * 2019-10-11 2023-05-12 株式会社デンソー 車両用運転支援装置及び車両用運転支援方法
CN110834641A (zh) * 2019-11-26 2020-02-25 奇瑞汽车股份有限公司 一种驾驶行为监测报警系统和方法
CN111158359B (zh) * 2019-12-02 2023-08-04 北京京东乾石科技有限公司 障碍物处理方法和装置
CN111665852B (zh) * 2020-06-30 2022-09-06 中国第一汽车股份有限公司 一种障碍物避让方法、装置、车辆及存储介质
KR20220056922A (ko) * 2020-10-28 2022-05-09 현대자동차주식회사 자율주행 제어 장치 및 방법
CN112519797A (zh) * 2020-12-10 2021-03-19 广州小鹏自动驾驶科技有限公司 一种车辆安全距离预警方法、预警系统、汽车及存储介质
JP7533284B2 (ja) * 2021-03-02 2024-08-14 トヨタ自動車株式会社 情報処理装置、情報処理方法、およびシステム

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US7729857B2 (en) * 2005-08-18 2010-06-01 Gm Global Technology Operations, Inc. System for and method of detecting a collision and predicting a vehicle path
JP4366419B2 (ja) * 2007-09-27 2009-11-18 株式会社日立製作所 走行支援装置
JP4814928B2 (ja) 2008-10-27 2011-11-16 三菱電機株式会社 車両用衝突回避装置
JP4788798B2 (ja) * 2009-04-23 2011-10-05 トヨタ自動車株式会社 物体検出装置
US8954260B2 (en) * 2010-06-15 2015-02-10 GM Global Technology Operations LLC Method and system for collision assessment for vehicles
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JP5944781B2 (ja) * 2012-07-31 2016-07-05 株式会社デンソーアイティーラボラトリ 移動体認識システム、移動体認識プログラム、及び移動体認識方法

Also Published As

Publication number Publication date
CN108238056A (zh) 2018-07-03
US10486593B2 (en) 2019-11-26
CN108238056B (zh) 2020-11-06
DE102017131125B4 (de) 2023-08-10
JP2018103704A (ja) 2018-07-05
US20180178722A1 (en) 2018-06-28
DE102017131125A1 (de) 2018-06-28

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